Software / API Bindings / Rust / API Reference and Examples / Bricklets / Laser Range Finder Bricklet 2.0

Rust - Laser Range Finder Bricklet 2.0¶

This is the description of the Rust API bindings for the Laser Range Finder Bricklet 2.0. General information and technical specifications for the Laser Range Finder Bricklet 2.0 are summarized in its hardware description.

An installation guide for the Rust API bindings is part of their general description. Additional documentation can be found on docs.rs.

Examples¶

The example code below is Public Domain (CC0 1.0).

Simple¶

Download (example_simple.rs)

use std::{error::Error, io, thread, time::Duration};
use tinkerforge::{ip_connection::IpConnection, laser_range_finder_v2_bricklet::*};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Laser Range Finder Bricklet 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let lrf = LaserRangeFinderV2Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    // Turn laser on and wait 250ms for very first measurement to be ready
    lrf.set_enable(true).recv()?;
    thread::sleep(Duration::from_millis(250));

    // Get current distance.
    let distance = lrf.get_distance().recv()?;
    println!("Distance: {} cm", distance);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;

    // Turn laser off
    lrf.set_enable(false).recv()?;

    ipcon.disconnect();
    Ok(())
}

Callback¶

Download (example_callback.rs)

use std::{error::Error, io, thread, time::Duration};
use tinkerforge::{ip_connection::IpConnection, laser_range_finder_v2_bricklet::*};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Laser Range Finder Bricklet 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let lrf = LaserRangeFinderV2Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    // Turn laser on and wait 250ms for very first measurement to be ready
    lrf.set_enable(true).recv()?;
    thread::sleep(Duration::from_millis(250));

    let distance_receiver = lrf.get_distance_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `lrf` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for distance in distance_receiver {
            println!("Distance: {} cm", distance);
        }
    });

    // Set period for distance callback to 0.2s (200ms) without a threshold.
    lrf.set_distance_callback_configuration(200, false, 'x', 0, 0);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;

    // Turn laser off
    lrf.set_enable(false).recv()?;

    ipcon.disconnect();
    Ok(())
}

Threshold¶

Download (example_threshold.rs)

use std::{error::Error, io, thread, time::Duration};
use tinkerforge::{ip_connection::IpConnection, laser_range_finder_v2_bricklet::*};

const HOST: &str = "localhost";
const PORT: u16 = 4223;
const UID: &str = "XYZ"; // Change XYZ to the UID of your Laser Range Finder Bricklet 2.0.

fn main() -> Result<(), Box<dyn Error>> {
    let ipcon = IpConnection::new(); // Create IP connection.
    let lrf = LaserRangeFinderV2Bricklet::new(UID, &ipcon); // Create device object.

    ipcon.connect((HOST, PORT)).recv()??; // Connect to brickd.
                                          // Don't use device before ipcon is connected.

    // Turn laser on and wait 250ms for very first measurement to be ready
    lrf.set_enable(true).recv()?;
    thread::sleep(Duration::from_millis(250));

    let distance_receiver = lrf.get_distance_callback_receiver();

    // Spawn thread to handle received callback messages.
    // This thread ends when the `lrf` object
    // is dropped, so there is no need for manual cleanup.
    thread::spawn(move || {
        for distance in distance_receiver {
            println!("Distance: {} cm", distance);
        }
    });

    // Configure threshold for distance "greater than 20 cm"
    // with a debounce period of 1s (1000ms).
    lrf.set_distance_callback_configuration(1000, false, '>', 20, 0);

    println!("Press enter to exit.");
    let mut _input = String::new();
    io::stdin().read_line(&mut _input)?;

    // Turn laser off
    lrf.set_enable(false).recv()?;

    ipcon.disconnect();
    Ok(())
}

API¶

To allow non-blocking usage, nearly every function of the Rust bindings returns a wrapper around a mpsc::Receiver. To block until the function has finished and get your result, call one of the receiver's recv variants. Those return either the result sent by the device, or any error occurred.

Functions returning a result directly will block until the device has finished processing the request.

All functions listed below are thread-safe, those which return a receiver are lock-free.

Basic Functions¶

pub fn LaserRangeFinderV2Bricklet::new(uid: &str, ip_connection: &IpConnection) → LaserRangeFinderV2Bricklet¶

Parameters:	uid – Type: &str ip_connection – Type: &IPConnection
Returns:	laser_range_finder_v2 – Type: LaserRangeFinderV2Bricklet

Creates a new LaserRangeFinderV2Bricklet object with the unique device ID uid and adds it to the IPConnection ip_connection:

let laser_range_finder_v2 = LaserRangeFinderV2Bricklet::new("YOUR_DEVICE_UID", &ip_connection);

This device object can be used after the IP connection has been connected.

pub fn LaserRangeFinderV2Bricklet::get_distance(&self) → ConvertingReceiver<i16>¶

Returns:	distance – Type: i16, Unit: 1 cm, Range: [0 to 4000]

Returns the measured distance.

The laser has to be enabled, see LaserRangeFinderV2Bricklet::set_enable.

If you want to get the value periodically, it is recommended to use the LaserRangeFinderV2Bricklet::get_distance_callback_receiver callback. You can set the callback configuration with LaserRangeFinderV2Bricklet::set_distance_callback_configuration.

pub fn LaserRangeFinderV2Bricklet::get_velocity(&self) → ConvertingReceiver<i16>¶

Returns:	velocity – Type: i16, Unit: 1 cm/s, Range: [-12800 to 12700]

Returns the measured velocity. The value has a range of -12800 to 12700 and is given in 1/100 m/s.

The velocity measurement only produces stables results if a fixed measurement rate (see LaserRangeFinderV2Bricklet::set_configuration) is configured. Also the laser has to be enabled, see LaserRangeFinderV2Bricklet::set_enable.

If you want to get the value periodically, it is recommended to use the LaserRangeFinderV2Bricklet::get_velocity_callback_receiver callback. You can set the callback configuration with LaserRangeFinderV2Bricklet::set_velocity_callback_configuration.

pub fn LaserRangeFinderV2Bricklet::set_enable(&self, enable: bool) → ConvertingReceiver<()>¶

Parameters:	enable – Type: bool, Default: false

Enables the laser of the LIDAR if set to true.

We recommend that you wait 250ms after enabling the laser before the first call of LaserRangeFinderV2Bricklet::get_distance to ensure stable measurements.

pub fn LaserRangeFinderV2Bricklet::get_enable(&self) → ConvertingReceiver<bool>¶

Returns:	enable – Type: bool, Default: false

Returns the value as set by LaserRangeFinderV2Bricklet::set_enable.

pub fn LaserRangeFinderV2Bricklet::set_configuration(&self, acquisition_count: u8, enable_quick_termination: bool, threshold_value: u8, measurement_frequency: u16) → ConvertingReceiver<()>¶

Parameters:	acquisition_count – Type: u8, Range: [1 to 255], Default: 128 enable_quick_termination – Type: bool, Default: false threshold_value – Type: u8, Range: [0 to 255], Default: 0 measurement_frequency – Type: u16, Unit: 1 Hz, Range: [0, 10 to 500], Default: 0

The Acquisition Count defines the number of times the Laser Range Finder Bricklet will integrate acquisitions to find a correlation record peak. With a higher count, the Bricklet can measure longer distances. With a lower count, the rate increases. The allowed values are 1-255.

If you set Enable Quick Termination to true, the distance measurement will be terminated early if a high peak was already detected. This means that a higher measurement rate can be achieved and long distances can be measured at the same time. However, the chance of false-positive distance measurements increases.

Normally the distance is calculated with a detection algorithm that uses peak value, signal strength and noise. You can however also define a fixed Threshold Value. Set this to a low value if you want to measure the distance to something that has very little reflection (e.g. glass) and set it to a high value if you want to measure the distance to something with a very high reflection (e.g. mirror). Set this to 0 to use the default algorithm. The other allowed values are 1-255.

Set the Measurement Frequency to force a fixed measurement rate. If set to 0, the Laser Range Finder Bricklet will use the optimal frequency according to the other configurations and the actual measured distance. Since the rate is not fixed in this case, the velocity measurement is not stable. For a stable velocity measurement you should set a fixed measurement frequency. The lower the frequency, the higher is the resolution of the calculated velocity. The allowed values are 10Hz-500Hz (and 0 to turn the fixed frequency off).

The default values for Acquisition Count, Enable Quick Termination, Threshold Value and Measurement Frequency are 128, false, 0 and 0.

pub fn LaserRangeFinderV2Bricklet::get_configuration(&self) → ConvertingReceiver<Configuration>¶

Return Object:	acquisition_count – Type: u8, Range: [1 to 255], Default: 128 enable_quick_termination – Type: bool, Default: false threshold_value – Type: u8, Range: [0 to 255], Default: 0 measurement_frequency – Type: u16, Unit: 1 Hz, Range: [0, 10 to 500], Default: 0

Returns the configuration as set by LaserRangeFinderV2Bricklet::set_configuration.

pub fn LaserRangeFinderV2Bricklet::set_distance_led_config(&self, config: u8) → ConvertingReceiver<()>¶

Parameters:	config – Type: u8, Range: See constants, Default: 3

Configures the distance LED to be either turned off, turned on, blink in heartbeat mode or show the distance (brighter = object is nearer).

The following constants are available for this function:

For config:

LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_OFF = 0
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_ON = 1
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_HEARTBEAT = 2
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_DISTANCE = 3

pub fn LaserRangeFinderV2Bricklet::get_distance_led_config(&self) → ConvertingReceiver<u8>¶

Returns:	config – Type: u8, Range: See constants, Default: 3

Returns the LED configuration as set by LaserRangeFinderV2Bricklet::set_distance_led_config

The following constants are available for this function:

For config:

LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_OFF = 0
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_ON = 1
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_HEARTBEAT = 2
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_DISTANCE = 3

Advanced Functions¶

pub fn LaserRangeFinderV2Bricklet::set_moving_average(&self, distance_average_length: u8, velocity_average_length: u8) → ConvertingReceiver<()>¶

Parameters:	distance_average_length – Type: u8, Range: [0 to 255], Default: 10 velocity_average_length – Type: u8, Range: [0 to 255], Default: 10

Sets the length of a moving averaging for the distance and velocity.

Setting the length to 0 will turn the averaging completely off. With less averaging, there is more noise on the data.

pub fn LaserRangeFinderV2Bricklet::get_moving_average(&self) → ConvertingReceiver<MovingAverage>¶

Return Object:	distance_average_length – Type: u8, Range: [0 to 255], Default: 10 velocity_average_length – Type: u8, Range: [0 to 255], Default: 10

Returns the length moving average as set by LaserRangeFinderV2Bricklet::set_moving_average.

pub fn LaserRangeFinderV2Bricklet::set_offset_calibration(&self, offset: i16) → ConvertingReceiver<()>¶

Parameters:	offset – Type: i16, Unit: 1 cm, Range: [-2¹⁵ to 28767]

The offset is added to the measured distance. It is saved in non-volatile memory, you only have to set it once.

The Bricklet comes with a per-sensor factory-calibrated offset value, you should not have to call this function.

If you want to re-calibrate the offset you first have to set it to 0. Calculate the offset by measuring the distance to a known distance and set it again.

pub fn LaserRangeFinderV2Bricklet::get_offset_calibration(&self) → ConvertingReceiver<i16>¶

Returns:	offset – Type: i16, Unit: 1 cm, Range: [-2¹⁵ to 28767]

Returns the offset value as set by LaserRangeFinderV2Bricklet::set_offset_calibration.

pub fn LaserRangeFinderV2Bricklet::get_spitfp_error_count(&self) → ConvertingReceiver<SpitfpErrorCount>¶

Return Object:	error_count_ack_checksum – Type: u32, Range: [0 to 2³² - 1] error_count_message_checksum – Type: u32, Range: [0 to 2³² - 1] error_count_frame – Type: u32, Range: [0 to 2³² - 1] error_count_overflow – Type: u32, Range: [0 to 2³² - 1]

Returns the error count for the communication between Brick and Bricklet.

The errors are divided into

ACK checksum errors,
message checksum errors,
framing errors and
overflow errors.

The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.

pub fn LaserRangeFinderV2Bricklet::set_status_led_config(&self, config: u8) → ConvertingReceiver<()>¶

Parameters:	config – Type: u8, Range: See constants, Default: 3

Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.

You can also turn the LED permanently on/off or show a heartbeat.

If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.

The following constants are available for this function:

For config:

LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_OFF = 0
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_ON = 1
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3

pub fn LaserRangeFinderV2Bricklet::get_status_led_config(&self) → ConvertingReceiver<u8>¶

Returns:	config – Type: u8, Range: See constants, Default: 3

Returns the configuration as set by LaserRangeFinderV2Bricklet::set_status_led_config

The following constants are available for this function:

For config:

LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_OFF = 0
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_ON = 1
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS = 3

pub fn LaserRangeFinderV2Bricklet::get_chip_temperature(&self) → ConvertingReceiver<i16>¶

Returns:	temperature – Type: i16, Unit: 1 °C, Range: [-2¹⁵ to 2¹⁵ - 1]

Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!

The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.

pub fn LaserRangeFinderV2Bricklet::reset(&self) → ConvertingReceiver<()>¶

Calling this function will reset the Bricklet. All configurations will be lost.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

pub fn LaserRangeFinderV2Bricklet::get_identity(&self) → ConvertingReceiver<Identity>¶

Return Object:

Return Object:	uid – Type: String, Length: up to 8 connected_uid – Type: String, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardware_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255] firmware_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255] device_identifier – Type: u16, Range: [0 to 2¹⁶ - 1]

uid – Type: String, Length: up to 8
connected_uid – Type: String, Length: up to 8
position – Type: char, Range: ['a' to 'h', 'z']
hardware_version – Type: [u8; 3]

0: major – Type: u8, Range: [0 to 255]
1: minor – Type: u8, Range: [0 to 255]
2: revision – Type: u8, Range: [0 to 255]

firmware_version – Type: [u8; 3]

0: major – Type: u8, Range: [0 to 255]
1: minor – Type: u8, Range: [0 to 255]
2: revision – Type: u8, Range: [0 to 255]

device_identifier – Type: u16, Range: [0 to 2¹⁶ - 1]

Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions¶

pub fn LaserRangeFinderV2Bricklet::set_distance_callback_configuration(&self, period: u32, value_has_to_change: bool, option: char, min: i16, max: i16) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: i16, Unit: 1 cm, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0 max – Type: i16, Unit: 1 cm, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0

The period is the period with which the LaserRangeFinderV2Bricklet::get_distance_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

If the value has to change-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

It is furthermore possible to constrain the callback with thresholds.

The option-parameter together with min/max sets a threshold for the LaserRangeFinderV2Bricklet::get_distance_callback_receiver callback.

The following options are possible:

Option	Description
'x'	Threshold is turned off
'o'	Threshold is triggered when the value is outside the min and max values
'i'	Threshold is triggered when the value is inside or equal to the min and max values
'<'	Threshold is triggered when the value is smaller than the min value (max is ignored)
'>'	Threshold is triggered when the value is greater than the min value (max is ignored)

If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.

The following constants are available for this function:

For option:

LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

pub fn LaserRangeFinderV2Bricklet::get_distance_callback_configuration(&self) → ConvertingReceiver<DistanceCallbackConfiguration>¶

Return Object:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: i16, Unit: 1 cm, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0 max – Type: i16, Unit: 1 cm, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0

Returns the callback configuration as set by LaserRangeFinderV2Bricklet::set_distance_callback_configuration.

The following constants are available for this function:

For option:

LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

pub fn LaserRangeFinderV2Bricklet::set_velocity_callback_configuration(&self, period: u32, value_has_to_change: bool, option: char, min: i16, max: i16) → ConvertingReceiver<()>¶

Parameters:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: i16, Unit: 1 cm/s, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0 max – Type: i16, Unit: 1 cm/s, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0

The period is the period with which the LaserRangeFinderV2Bricklet::get_velocity_callback_receiver callback is triggered periodically. A value of 0 turns the callback off.

If it is set to false, the callback is continuously triggered with the period, independent of the value.

It is furthermore possible to constrain the callback with thresholds.

The option-parameter together with min/max sets a threshold for the LaserRangeFinderV2Bricklet::get_velocity_callback_receiver callback.

The following options are possible:

Option	Description
'x'	Threshold is turned off
'o'	Threshold is triggered when the value is outside the min and max values
'i'	Threshold is triggered when the value is inside or equal to the min and max values
'<'	Threshold is triggered when the value is smaller than the min value (max is ignored)
'>'	Threshold is triggered when the value is greater than the min value (max is ignored)

If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.

The following constants are available for this function:

For option:

LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

pub fn LaserRangeFinderV2Bricklet::get_velocity_callback_configuration(&self) → ConvertingReceiver<VelocityCallbackConfiguration>¶

Return Object:	period – Type: u32, Unit: 1 ms, Range: [0 to 2³² - 1], Default: 0 value_has_to_change – Type: bool, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: i16, Unit: 1 cm/s, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0 max – Type: i16, Unit: 1 cm/s, Range: [-2¹⁵ to 2¹⁵ - 1], Default: 0

Returns the callback configuration as set by LaserRangeFinderV2Bricklet::set_velocity_callback_configuration.

The following constants are available for this function:

For option:

LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OFF = 'x'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE = 'o'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_INSIDE = 'i'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_SMALLER = '<'
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_GREATER = '>'

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the corresponding get_*_callback_receiver function, which returns a receiver for callback events.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

pub fn LaserRangeFinderV2Bricklet::get_distance_callback_receiver(&self) → ConvertingCallbackReceiver<i16>¶

Event:	distance – Type: i16, Unit: 1 cm, Range: [0 to 4000]

Receivers created with this function receive Distance events.

This callback is triggered periodically according to the configuration set by LaserRangeFinderV2Bricklet::set_distance_callback_configuration.

The received variable is the same as LaserRangeFinderV2Bricklet::get_distance.

pub fn LaserRangeFinderV2Bricklet::get_velocity_callback_receiver(&self) → ConvertingCallbackReceiver<i16>¶

Event:	velocity – Type: i16, Unit: 1 cm/s, Range: [-12800 to 12700]

Receivers created with this function receive Velocity events.

This callback is triggered periodically according to the configuration set by LaserRangeFinderV2Bricklet::set_velocity_callback_configuration.

The received variable is the same as LaserRangeFinderV2Bricklet::get_velocity.

Virtual Functions¶

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

pub fn LaserRangeFinderV2Bricklet::get_api_version(&self) → [u8; 3]¶

Return Object:	api_version – Type: [u8; 3] 0: major – Type: u8, Range: [0 to 255] 1: minor – Type: u8, Range: [0 to 255] 2: revision – Type: u8, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

pub fn LaserRangeFinderV2Bricklet::get_response_expected(&mut self, function_id: u8) → bool¶

Parameters:	function_id – Type: u8, Range: See constants
Returns:	response_expected – Type: bool

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by LaserRangeFinderV2Bricklet::set_response_expected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For function_id:

LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION = 2
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION = 6
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_ENABLE = 9
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_CONFIGURATION = 11
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_MOVING_AVERAGE = 13
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_OFFSET_CALIBRATION = 15
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_DISTANCE_LED_CONFIG = 17
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_STATUS_LED_CONFIG = 239
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_RESET = 243
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_WRITE_UID = 248

pub fn LaserRangeFinderV2Bricklet::set_response_expected(&mut self, function_id: u8, response_expected: bool) → ()¶

Parameters:	function_id – Type: u8, Range: See constants response_expected – Type: bool

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

The following constants are available for this function:

For function_id:

LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION = 2
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION = 6
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_ENABLE = 9
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_CONFIGURATION = 11
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_MOVING_AVERAGE = 13
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_OFFSET_CALIBRATION = 15
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_DISTANCE_LED_CONFIG = 17
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_SET_STATUS_LED_CONFIG = 239
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_RESET = 243
LASER_RANGE_FINDER_V2_BRICKLET_FUNCTION_WRITE_UID = 248

pub fn LaserRangeFinderV2Bricklet::set_response_expected_all(&mut self, response_expected: bool) → ()¶

Parameters:	response_expected – Type: bool

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Internal Functions¶

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

pub fn LaserRangeFinderV2Bricklet::set_bootloader_mode(&self, mode: u8) → ConvertingReceiver<u8>¶

Parameters:	mode – Type: u8, Range: See constants
Returns:	status – Type: u8, Range: See constants

Sets the bootloader mode and returns the status after the requested mode change was instigated.

You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

The following constants are available for this function:

For mode:

LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_OK = 0
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE = 1
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE = 2
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH = 5

pub fn LaserRangeFinderV2Bricklet::get_bootloader_mode(&self) → ConvertingReceiver<u8>¶

Returns:	mode – Type: u8, Range: See constants

Returns the current bootloader mode, see LaserRangeFinderV2Bricklet::set_bootloader_mode.

The following constants are available for this function:

For mode:

LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER = 0
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE = 1
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

pub fn LaserRangeFinderV2Bricklet::set_write_firmware_pointer(&self, pointer: u32) → ConvertingReceiver<()>¶

Parameters:	pointer – Type: u32, Unit: 1 B, Range: [0 to 2³² - 1]

Sets the firmware pointer for LaserRangeFinderV2Bricklet::write_firmware. The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

pub fn LaserRangeFinderV2Bricklet::write_firmware(&self, data: [u8; 64]) → ConvertingReceiver<u8>¶

Parameters:	data – Type: [u8; 64], Range: [0 to 255]
Returns:	status – Type: u8, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by LaserRangeFinderV2Bricklet::set_write_firmware_pointer before. The firmware is written to flash every 4 chunks.

You can only write firmware in bootloader mode.

This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.

pub fn LaserRangeFinderV2Bricklet::write_uid(&self, uid: u32) → ConvertingReceiver<()>¶

Parameters:	uid – Type: u32, Range: [0 to 2³² - 1]

Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first.

We recommend that you use Brick Viewer to change the UID.

pub fn LaserRangeFinderV2Bricklet::read_uid(&self) → ConvertingReceiver<u32>¶

Returns:	uid – Type: u32, Range: [0 to 2³² - 1]

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

Constants¶

pub const LaserRangeFinderV2Bricklet::DEVICE_IDENTIFIER¶

This constant is used to identify a Laser Range Finder Bricklet 2.0.

The LaserRangeFinderV2Bricklet::get_identity function and the IpConnection::get_enumerate_callback_receiver callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

pub const LaserRangeFinderV2Bricklet::DEVICE_DISPLAY_NAME¶: This constant represents the human readable name of a Laser Range Finder Bricklet 2.0.